BEGIN:VCALENDAR
VERSION:2.0
PRODID:-//Memento EPFL//
BEGIN:VEVENT
SUMMARY:MEchanics GAthering -MEGA- Seminar: Talk 1 - Sensorized physical t
 win of a raspberry to develop harvesting robots\; Talk 2 - Soft passive sw
 immer optimization: From simulation to reality using data-driven transform
 ation
DTSTART:20220331T161500
DTEND:20220331T173000
DTSTAMP:20260508T162726Z
UID:93ef36d932ec5f8e368375f74395f0f1e838920e9625951e8f5ed180
CATEGORIES:Conferences - Seminars
DESCRIPTION:Kai Junge (CREATE-LAB\, EPFL) & Nana Obayashi (CREATE-LAB\
 , EPFL)\nTalk 1: Sensorized physical twin of a raspberry to develop harv
 esting robots\, by Kai Junge (CREATE-LAB\, EPFL)\n\nAbstract The use of
  robotic systems for harvesting of crops is a growing application domain i
 n the agriculture sector. A key challenge is to develop robotic systems to
  harvest soft fruits such as raspberries which require delicate handling a
 s they are easily damaged. Designing and optimizing a robotic harvesting s
 etup by testing on real raspberry crops can be challenging due to the shor
 t natural harvesting period and the cost and logistical challenges of runn
 ing experiments in the field. To solve this problem\, we present a sensori
 zed physical twin of a raspberry which can be used to develop robotic harv
 esting systems before deploying in the field. The sensorized raspberry has
  the capability of measuring the applied forces before and after it has be
 en picked off the plant with a high sensitivity. The mechanical design was
  optimized and a material with properties similar to the real fruit was ch
 osen\, in order to achieve similar mechanical properties to a real raspber
 ry\, specifically the stiffness before and after picking and the pulling f
 orce. The paper concludes with a harvesting demonstration performed by a r
 obotic gripper\, where the sensorized raspberry is used to assess the qual
 ity of the picking action. This work aims to lay the groundwork for accele
 rating the future development of robotic harvesting systems to enable robu
 st development in a lab before deployment in the field.\n\nBio I am a 1st
  year PhD student at the CREATE Lab (EPFL) working on dexterous robotic m
 anipulation. Originally from Kyoto Japan\, I studied engineering (focus on
  robotics and informatics) at the University of Cambridge\, UK for both my
  bachelors and masters before coming to EPFL. Since a young age\, robotics
  prototyping has been my passion and hobby. At EPFL I have been working on
  projects related with the fabrication of robot hands\, sensor design and
  characterisation\, low level motor control\, and optimisation\, tying in 
 the practical skills from my hobbies and theoretical background from my pa
 st studies. \n\nTalk 2: Soft passive swimmer optimization: From simulatio
 n to reality using data-driven transformation\, by Nana Obayashi (CREATE
 -LAB\, EPFL)\n\nAbstract Soft\, bio-inspired robotic swimmers are showing
  significant potential in terms of efficient motion and maneuverability. H
 owever\, modeling and understanding the fluid-structure interactions betwe
 en compliant soft bodies and water is highly complex\, limiting our abilit
 y to optimize or understand the effect of both design and controller param
 eters. We propose combining simulation of soft passive swimming structures
  with experimental data to improve the accuracy of the simulation by ident
 ifying the transformation which best maps the simulation to this experimen
 tal data. This allows us to leverage the physics that are captured by the 
 simulations whilst closing the sim-to-real gap by using a limited amount o
 f experimental data. We use this approach to model a simple\, modular robo
 tic system based upon passive tentacles and show how we can close the real
 ity gap and optimize the design of the tentacle structures. This optimized
  structure is used to create a full robot swimmer\, where the optimized te
 ntacles can be used to create a robot with a swimming speed of 6.2 cm/s\, 
 and can introduce a rudder like 'deflector' to also control the direction 
 of the robot's motion.\n\nBio Nana Obayashi is a first year PhD student a
 t the CREATE Lab\, working with Prof. Josie Hughes. She has bachelor’s a
 nd master’s degrees in aerospace engineering from Georgia Institute of T
 echnology\, as well as industry experience as an aerodynamics and flight p
 erformance engineer. In her PhD\, she is focusing on the intersection of f
 luid dynamics and robotics so we can better design robots that efficiently
  exploit the environment.
LOCATION:MED 2 2423 https://plan.epfl.ch/?room==MED%202%202423 https://epf
 l.zoom.us/j/64863509346?pwd=RGlkWjRGOVVSaXZxdFdrb3duYy9mZz09
STATUS:CONFIRMED
END:VEVENT
END:VCALENDAR